System for determining the location of a data storage library robot and methods of determining the same

ABSTRACT

Systems and methods for determining the location of a mobile robot within a data storage library and to a library including such systems and utilizing such methods.

CROSS-REFERENCE TO RELATED APPLICATIONS

None.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to data storage libraries that house aplurality of data storage media such as optical discs and magnetic tapecartridges. Such libraries include drives for reading data from themedia or writing data onto the media and further include a so-calledrobot adapted to move the media between their storage locations and thedrive. The present invention generally relates to systems and methodsfor determining the location of a robot within a data storage library.

2. Description of Related Art

Robots in data storage libraries typically move along rails or tracksdisposed on a floor of the library. The robotic movement is controlledvia communication with a microprocessor that commands the robot to movealong the rails or tracks to a particular location adjacent to either toa storage cell in which a disc or cartridge is located or to a drive forreading or writing data from or onto, respectively, the disc orcartridge. The position of the robot along the track is extremelyimportant in connection with proper alignment and registration of therobot with respect to the storage cell or the drive.

If a robot has not been physically moved or jostled from a positionknown to the microprocessor, then the microprocessor will usuallymaintain a fairly accurate indication of the location of the robotthroughout its travel along the rails or tracks during operation. If therobot is physically moved or jostled, however, the position of the robotmay be significantly different from that which was last known to themicroprocessor. Such physical movement or jostling may occur, forexample, when a robot is serviced or repaired or when other aspects ofthe data storage library are serviced or repaired that might require therobot to be moved or that might cause an inadvertent movement of therobot. In data storage libraries that have only a single robot, themicroprocessor may move the robot in such a way as to reappraise themicrocontroller of its new, current location in the library. Prior artsystems for such reappraisement include hard stops whereby the robotmoves until it physically abuts a wall or other obstruction and can moveno farther, movement of the robot to a point where the robot interruptsa light beam passing through the region of robotic travel to aphotodiode receptor, and implementation of course servo units thatinclude a registry of lines along the route of robotic travel and whichcan be sensed and counted by the robot.

The problems associated with knowing the location of a single robot in adata storage library are compounded when more than one robot is utilizedin the library. The robots are designed to move extremely quickly alongthe rails or tracks so as to maximize the efficiency of the libraryoperation. Therefore, movement of one or more of the robots withoutknowing their locations may result in the robots colliding and causingsignificant damage to one or more of the robots. The robots arerelatively expensive to repair or replace, but more importantly, thelibrary operations may be shut down until such time as a damaged robotcan be repaired or replaced.

When a data storage library includes more than one robot, it isextremely important to know the location of each robot before ittravels, or at least within a very short distance of any travel. Knowingthe location of the robots is of special importance immediately afterthe library has been accessed for any purpose, such as servicing andmaintaining a robot, servicing and maintaining other aspects of thelibrary, or adding, deleting, or rearranging media elements within thelibrary.

SUMMARY OF THE INVENTION

The present invention relates to systems and methods for determining thelocation of a mobile robot within a data storage library and to alibrary including such systems and utilizing such methods.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be described with reference to theaccompanying drawings, wherein:

FIG. 1 is a schematic diagram of a data storage library depictingseveral of the significant components and features thereof;

FIG. 2 is a schematic diagram of a system for determining the locationof a mobile robot according to one embodiment of the present invention;

FIG. 3 is a schematic diagram of a system for determining the locationof a mobile robot according to another embodiment of the presentinvention;

FIG. 4 is a schematic diagram of one embodiment of the system fordetermining the location of a mobile robot according to yet anotherembodiment of the present invention; and

FIG. 5 is a schematic diagram of a system for determining the locationof a mobile robot according to a further embodiment of the presentinvention.

DESCRIPTION OF A PREFERRED EMBODIMENT

Preferred embodiments of the present invention will now be describedwith reference to the accompanying drawings, wherein like referencenumerals refer to the same item. The terminology used in the descriptionpresented herein is intended to be interpreted in its broadest manner,even though it is being utilized in conjunction with a detaileddescription of certain specific preferred embodiments of the presentinvention. It is further emphasized that the following descriptionrelates to certain preferred embodiments, and that the invention isdirected to and applies to other embodiments that may not bespecifically described below.

FIG. 1 shows a diagram of a data storage arrangement 200 with which thepresent invention may be employed. The present invention may be employedwith other arrangements also, and the arrangement shown in FIG. 1 shouldbe considered as only one example of a data storage arrangement in whichthe present invention may be employed.

The data storage arrangement 200 includes a host computer 203 incommunication via path 232 with a storage system 201 via a primarycommunication interface processor device (I/F) 230 that includes a hostport (not shown). The host computer 203 is one exemplary embodiment of aconsumer of data; other embodiments can also include a second storagesystem, similar to storage system 201, or a streaming output device suchas a video server, just to name some examples. A consumer of datatransmits data or receives data for storage elsewhere, i.e., a consumerof data is generally capable of “taking in” and/or “sending out” data.For example, a host computer 203 is a consumer of data when receivingdata (or sending data, such as to the storage system 201), and a storagesystem 201 is a consumer of data when receiving and sending data toanother entity wherein the data is stored. The host computer 203 can bea personal computer, a main frame computer, a server, or any computersystem capable of communication with the storage system 201, just toname a few examples. The communication path 232 facilitatescommunication between the host computer 203 and the storage system 201.The means for communication can be accomplished by a dedicated pathway(such as a SCSI [Small Computer Systems Interface] cabled connection)or, in an alternative embodiment, a pathway over a network (such as aLAN, WAN, or other communication architecture), for example.Furthermore, the communication path 232 can be in the form of a wireline pathway, wireless, or a combination thereof, for example.

The storage system 201, which may also be considered a data storagelibrary by those skilled in the art, is illustratively shown asgenerally including a shelf system 211, a first robotic transport unit214 and a second robotic transport unit 216, four removable storageelements 202, 204, 206 and 208, four drives 218, 220, 222 and 224, aswitch system 226, a storage system Central Processing Unit (CPU) 228,which employs a macroprocessor as part of the CPU computing device 228,and as I/F 230. As one skilled in the art will recognize, the blockdiagram of the storage system 201 shows for purposes of simplicity onlythe primary elements of the exemplary data storage arrangement, andcertain necessary structures and components for the aforementionedelements to properly function have been omitted. For example, inpractice, the storage system 201 includes all of the necessary wiring,user interface panels, plugs, modular components, entry and exit port(s)to introduce (or remove) removable storage elements into the storagesystem 201, fault protectors, uninterruptable power supplies,processors, busses, robotic transport unit tracks, indication lights,and so on, in order to function as a data storage library.

In the illustrative arrangement shown in FIG. 1, the shelf system 211possesses a first shelf 210 and a second shelf 212 each adapted tosupport the removable storage elements A 202, B 204, C 206, and D 208.The shelf system 211 can possess a single shelf or multiple shelfcolumns and levels. The shelf system 211 can be located along one sideof the storage system 201, as illustratively shown, or optionally indifferent locations, such as along opposing walls, for example.Furthermore, the shelf system 211 can provide more tailored,accommodating locations adapted specifically to one or more removablestorage elements, such as a slot or indentation that matches a removablestorage element's footprint. The removable storage element is a storageelement that has been adapted for repetitive mobility by a robotictransport unit. The removable storage element can be a disc driveadapted for mobility, a disc drive magazine adapted for mobility,wherein the disc drive magazine comprises a plurality of disc drives, asolid state memory device adapted for mobility, such as a flash memorydevice, a tape cartridge, a tape magazine comprising a plurality of tapecartridges, an optical disc, a magazine comprising a plurality ofoptical discs, an independent storage disc, such as a magneto-opticaldisc or magnetic disc or alternative memory disc used as a storagemedium, a magazine comprising a plurality of independent storage discs,or another type of storage device capable of storing data that isadapted for mobility. Further, the removable storage elements areremovable from the storage system 201, for example, a tape cartridge, orother mobile storage element, is a removable storage element that can bestored in a location external to the storage system 201 in a vault.Hence, a removable storage element, also called a mobile storage elementor a media element herein, is a storage element that is intended to beand capable of being moved and engaged with a drive cyclically andfrequently. The drive is adapted to receive and substantially support aremovable storage element via an opening in the drive such that, whencooperatively linked, a read and/or write relationship is formed (i.e.,data storage operations are facilitated between the drive and theremovable storage medium). Some examples of a drive include a disc drivedocking station, a tape drive, and a disc drive magazine dockingstation.

The storage system 201 illustratively shows four drives 218, 220, 222and 224, however, in optional embodiments, the library may possess moredrives or fewer drives. A drive forms a cooperating relationship with aremovable storage element such that data can be written to and/or readfrom the removable storage element. Examples of various drives include atape drive that is adapted to receive tape cartridges, a disk drivedocking station which receives a disk drive adapted for mobility thatwhen paired forms a cooperating read and write relationship, such as adisk drive inside an exterior casing with electrical contacts designedfor high cycle contacting, and a disk drive magazine docking stationwhich receives a removable disk drive magazine, as exemplified in U.S.Application No. 2006/0132964 to Lau et al, and a Compact Disk (CD) driveused with a CD.

With continued reference to FIG. 1, the storage system 201 possesses afirst robotic transport unit 214 and a second robotic transport unit 216wherein the first robotic transport unit 214 is illustratively showntransporting magazine B 204 between a drive 218 and the shelf system212, and a second robotic transport unit 216 that is available fortransporting a removable storage element. The term “robot” may be usedherein to abbreviate the term “robotic transport unit” without departingfrom the scope and spirit of the present invention. It should beappreciated that one or any other number of robots may be included inthe arrangement. In the exemplary illustrated arrangement, the robots214, 216 are adapted to move between the first shelf 210 and the secondshelf 212 and all of the drives 218, 220, 222 and 224. Though the robots214, 216 are illustratively shown as block diagrams, an example of arobotic transport unit is that utilized in a commercial storage systemsuch as a T-950 library or a T-Finity library manufactured by SpectraLogic Corp., of Boulder, Colo. The T-950 robotic transport unitstraverse the T-950 library along a track system and move vertically viaan elevator system integrated with each robot transport unit.Furthermore, the T-950 robotic transport units possess an integratedpicker system that grasps removable storage elements from a shelf systemor from a drive to be moved via the associated robotic transport unit.The integrated picker system further is capable of disposing a removablestorage element to the shelf system or to a drive. In the illustrativearrangement, the robot merely provides transportation of the removablestorage elements between the shelf system 211 and a drive 218, 220, 222,and 224. The robot may provide the added feature of depositing aremovable storage element on the shelf system 212 and/or loading theremovable storage element in a cooperating relationship with a drivesuch that data can be read to and/or written from the removable storageelement via the drive. In optional configurations, a loading feature canreside with each drive instead of a picker unit integrated with arobotic transport unit.

It will be appreciated by those skilled in the art that the robots 214,216 are usually designed to travel along the same tracks or rails withinthe library. It is also possible to add additional cabinets containingadditional shelf systems 211 so that the rails or tracks are extended.Typically, in order to conserve space in which the library situated, therobots 214, 216 travel through a tunnel, corridor, or hallway bounded bythe shelf system 211, the drives 218, 220, 222, 224, or the walls of thelibrary. Also, typically, the library includes a ceiling so as toinhibit dust and other debris from entering the library, to confinesound and noise generated by library operation, otherwise to amelioratelibrary operations.

In one embodiment of the present invention, the ceiling of the datastorage library 201 includes at least one row of lights, such as a rowof equally spaced white Light Emitting Diodes (LEDs) 302, as shown inFIG. 2. Although in the embodiment shown in FIG. 2, the row of lightscomprises white LEDs 302, aspects of the invention contemplate that LEDsof other colors and wavelength profiles, and that other types of lightsources, may be advantageously used. Moreover, to the extent that theceiling of the data storage library is not already provided with suchceiling light sources, the ceiling may be retrofitted with such lightsources.

As shown in FIG. 2, a platform 304 is preferably mounted to and above anassociated robot 214, 216 such that the platform 304 is spaced within afew inches or centimeters below the ceiling and the white LEDs 302. Forexample, preferably the platform 304 is spaced in a range of aboutone-quarter inch to six inches directly below the LEDs 302, and morepreferably about three inches directly beneath the LEDs 302. Because theplatform 304 is mounted to one associated robot 214, 216, the platform304 translates with the associated robot in the directions of the arrows306, 308 shown in FIG. 2. It should be appreciated that preferably thedirection of travel is linear and is coparallel with the (linear) row ofLEDs 302. The invention contemplates, however, that the direction oftravel of the platform 304 and the associated one of the robots 214, 216may be other than linear and that the LEDs 302 or other light sourcesmay be arranged in other than a linear row.

In a preferred embodiment shown in FIG. 2, the platform 304 carries onits upper surface three light sensors 310 equally spaced in a (linear)row. Preferably, the row of light sensors 310 is parallel to anddisposed vertically beneath the row of LEDs 302 and preferably thedirection of travel of the platform 304 and the associated one of therobots 214, 216 is also parallel to and vertically beneath the row ofLEDs 302. The light sensors 310 are adapted to sense light emitted fromthe LEDs 302. The intensity of the light detected will depend on boththe square of the distance between the nearest LEDs 302 and the lightsensors 310 as well as the sensitivity variations of the light sensors310 to light impinging thereon at various degrees or angles. The amountor intensity of light sensed by each light sensor 310 may be transmittedwirelessly or otherwise to a microprocessor.

The present invention contemplates that, in the preferred embodimentshown in FIG. 2, the intensity or other characteristics of the lightemitted from the LEDs 302 will be modified in a particular sequence,especially a predetermined sequence, which modulations or changes willbe detected by each of the light sensors 310. For example, with respectto viewing FIG. 2, the left-most LED 302 a may be turned “off”, then thenext LED 302 b to the right of that LED 302 a will be turned “off”, andso forth toward the right of FIG. 2. A microprocessor may regulate suchsequence, and will receive electrical signals from each of the lightsensors 310 indicating the magnitude of the light impinging thereon andbeing sensed. It will be appreciated that when the LED 302 c that isthird from the left as shown in FIG. 2 is, for example, “off”, theleft-most light sensor 310 a will sense a decrease in light intensityimpinging thereon, and when the LED 302 d that is fourth from the leftin FIG. 2 is turned “off”, then both the left-most light sensor 310 aand the center light sensor 310 b will experience a significant loss oflight intensity impinging thereon, and the right-most light sensor 310 cwill sense a slight decrease in the light impinging thereon. When theLED 302 e that is fifth from the left as shown in FIG. 2 is turned“off”, then the left-most light sensor 310 a will experience only a veryslight decrease in light intensity, the center light sensor 310 b willexperience a moderate decrease in light intensity, and the right-mostlight sensor 310 c will experience a substantial loss in lightintensity. By appreciating when each of the LEDs 302 is turned “off” andcorrelating that sequence with the amount of light intensity sensed byeach of the light sensors 310 at the time when each LED 302 is turned“off”, the microprocessor may determine the location of the platform 304relative to particular ones of the LEDs 302, and thereby also thelocation of the robot.

Through empirical testing of different locations of the platform 304during a sequence and measuring how each of the light sensors 310reacts, the microprocessor may be programmed to fairly accuratelydetermine the location of the platform 304 with respect to anyparticular LED 302 when the sequence is performed. Thus, a relativelyaccurate determination of the location of the robot along its associatedrail or track in the library may be made.

In the preferred embodiment shown in FIG. 2, the spacing between LEDs302 is about twice as long as the spacing between the light sensors 310.For example, the spacing between the LEDs 302 may be in the range ofabout one inch to three inches and most preferably about one andsix-tenths inches and between the light sensors 310 may be in the rangeof about one-half and one and one-half inches and most preferably abouteight-tenths of an inch. It should be appreciated that the spacingbetween the three light sensors 310 may be more or less than one-half ofthe spacing between the LEDs 302, that the number of light sensors 310may be more or less than three, that the light sensors 310 may be placedin a non-linear array, and that other variations in the configuration oflight sensors 310 may be advantageously employed.

It should also be appreciated that instead of turning an LED 302 from“on” to “off”, the LED 302 may be turned from “off” to “on” during thesequence or that the LEDs may be flashed “on”/“off” during the sequence.Moreover, the light from the LEDs 302, or other light source, instead ofbeing turned completely “on” or turned completely “off” such as by meansof a switch, may be reduced or increased in intensity, such as by meansof a rheostat. As a further example of the embodiment shown in FIG. 2,the intensity of the light emitted from the LEDs 302 may be changed fromsteady to pulsed at a certain frequency. The invention also contemplatesthat the term “light” may include electro-magnetic radiation outside thevisible spectrum of wavelengths.

Another embodiment of the present invention is depicted in FIG. 3, whichincludes LEDs 302 and a platform 304 similar in all respects to thosedescribed with reference to FIG. 2. A light sensor 312 is carried on thetop surface of the platform 304, and a cone-shaped funnel 314 is mountedon top of the light sensor 312. As shown by the dashed lines in FIG. 3,the funnel 314 essentially prevents light originating from outside theangular periphery of the funnel 314 from reaching the light sensor 312.The angular periphery of the funnel 314 may be selectively varied andchosen, preferably such that, no matter where the platform 304 islocated, light from essentially only a single LED 302 can be received bythe light sensor 312. As shown in FIG. 3 by the dashed lines, theangular periphery of the funnel 314 spans about ninety degrees across,although such angular periphery may be selected so as to extend anywherein the range of about sixty degrees to one hundred twenty degrees, forexample.

Again, through empirical testing, and knowing that the intensity of thelight emanating from the LEDs 302 varies according to the square of thedistance between an LED 302 and the light sensor 312 and according tothe sensitivity of the sensor to light impinging thereon at variousangles of inclination, and since the light sensor 312 electricallytransmits the intensity of the light impinging thereon to themicroprocessor, the microprocessor may closely approximate the locationof the platform 304 and the associated robot 214, 216.

The interior surface of the funnel 314 may be either absorbent to lightemitted from the LED 302, or may be reflective of such light. Moreover,instead of a cone-shaped funnel 314, the funnel 314 may possess otherperipheral curves, slopes, and configurations. Also, more than onefunnel 314 and associated light sensor 312 may be carried on theplatform 304, in which event, the funnels 314 may have either the sameor different angular characteristics and orientations. By modulating thelight emitted from the LEDs 302 in a known sequence, the location of theplatform 304 and the associated robot 214, 216 may be fairly accuratelydetermined by the microprocessor.

Yet another embodiment of the present invention is shown in FIG. 4. Inthis embodiment, the library ceiling includes a row of LEDs 302 and aplatform 304 similar in all respects to those described with referenceto FIG. 2. A mirror 316 or other reflective surface is carried on thetop surface of the platform 304 and is rotatable about an axis in thedirection of the arrows 318. A light sensor 320 is preferably disposedat one end of the corridor of travel of the robot 214, 216. The angle ofinclination of the mirror 316 is known and may be varied by rotating theminor 316 about its axis under the control of the microprocessor, whichalso monitors and knows the angle of inclination at any time. Bymodulating the light emitted from the LEDs 302 in a known sequence, bymodifying the angle of inclination of the minor 316, and by sensing themagnitude of the light reflected by the mirror 316 onto the light sensor320, the location of the platform 304, and thereby the associated robot214, 216, may be fairly accurately calculated.

There shown in FIG. 5 yet another embodiment of the present inventionutilizing LEDs 302 and a platform 304 similar in all respects to thosedescribed with reference to FIG. 2. In this embodiment, a directionallight sensor 322 is carried on the top surface of the platform 304 andis rotatable about an axis in the direction of the arrows 324 under thecontrol and monitoring of the microprocessor. The directional lightsensor 322 possesses a relatively narrow field of view or reception forreceiving light from a light source, such as a field within the range offive degrees to twenty degrees. By modulating the intensity of the LEDsin a known sequence and by rotating the directional light sensor 322,the location of the platform 304, and thereby the associated robot 214,216, may be fairly accurately calculated.

The present invention also contemplates that instead of utilizingelectro-magnetic waves in the form of light, the location of the robotmay also be determined by utilizing sound waves or radio waves such asthose created, sensed, and analyzed in a SONAR or RADAR system. In thisembodiment, a generator sends sound waves or radio waves preferably downthe corridor in which the robot 214, 216 is disposed, and the soundwaves or radio waves reflect off the body of the robot and are receivedby one or more sound wave or radio wave receptors. The signals receivedby the sound wave/radio wave receptors may be analyzed to fairlyaccurately determine the location of the robot 214, 216.

In yet another embodiment of the present invention, a firstdetermination of the location of the robot 214, 216 may be obtained, andthen the robot 214, 216 may be moved under microprocessor control andmonitoring a known distance, preferably a relatively short distance suchas two inches, along its rail or track, and then another measurement istaken. With such a dual measurement, the location of the robot 214, 216may be more accurately verified.

The platform 304 has been described in the preferred embodiment as beingmounted to and above the robot, however, the platform 304 may be mountedto the robot in many other positions and orientations. Also the sensorsand reflectors described as being carried on the platform 304 may becarried directly by the robot without any platform.

The invention also contemplates that instead of the sensors andreflectors being mounted in a stationary, fixed position on the platform304, the sensors and reflectors may move on the platform, such assliding on tracks along the top surface of the platform 304 undermicroprocessor control and monitoring. By moving the sensors orreflectors while the platform 304 and associated robot are stationary inthe library, and by sequentially modulating the LEDs 302, an even moreaccurate determination of the location of the robot can be made throughsuch multiple measurements. The invention also contemplates that insteadof moving the sensors and reflectors relative to the platform, theplatform itself may move relative to the robot.

It should be appreciated that although the preferred embodiments havebeen described with reference to light sources mounted on a libraryceiling, the light sources may be suspended from a ceiling or suspendedwithout any ceiling. Also, the light sources may be located other thanabove the robot, and may be located in the library floor, or to the sideof the robot.

The invention further contemplates that the light sources or the sensorsmay be provided with wavelength/band filters so that light intensity andsensor sensitivity may be optimized for better measurements.

While the LEDs or other light sources may have the same intensity andspectral characteristics, the invention further contemplates that theLEDs or other light sources may have different intensity or spectralcharacteristics that are known to the microprocessor and that may besensed by the light sensors. As such, the microprocessor will know whena light sensor is near a particular LED or other light source withoutturning the light source “off” and “on” or otherwise modulating thelight from that light source.

It should be appreciated that in the context of the present invention,the location of the robot 214, 216 may be determined by a reverse of theforegoing processes, whereby the light wave, sound wave, or radio wavegenerators are instead receptors, and the light wave, sound wave, orradio wave receptors are instead emitters.

The various embodiments of the present invention may be employed withthe T-Finity library manufactured by Spectra Logic Corporation, ofBoulder, Colo. or with a wide variety of other libraries.

While exemplary embodiments have been presented in the foregoingdescription of the invention, it should be appreciated that a vastnumber of variations within the scope of the invention may existincluding other methods of determining probe insertion positioning. Theforegoing examples are not intended to limit the nature or the scope ofthe invention in any way. Rather, the foregoing detailed descriptionprovides those skilled in the art with a foundation for implementingother exemplary embodiments of the invention.

1. A data storage library comprising: (a) a plurality of media elementson which data is recorded; (b) a plurality of storage cells, each celladapted to receive a media element; (c) at least one drive adapted tocooperatively receive a media element and to either read informationfrom or write information onto said media element when said mediaelement is cooperatively received by said at least one drive; (d) atleast one mobile transport robot adapted to place said media elementsinto said storage cells and remove said media elements out of saidstorage cells and to transport said media elements to and from said atleast one drive; and (e) means for determining the location of said atleast one mobile transport robot within the library.
 2. A data storagelibrary according to claim 1 said determining means comprises aplurality of light sources disposed in a predetermined, fixed arraywithin the library and at least one light sensor that is sensitive tothe light from said sources, said at least one light sensor beingpositioned at a location correlating with the location of said at leastone mobile transport robot within the library.
 3. A data storage libraryaccording to claim 2 wherein said at least one light sensor is mountedon said at least one mobile transport robot.
 4. A data storage libraryaccording to claim 2 further including means for modifying the intensityof the light emitted by each of said plurality of light sources in aselected sequence.
 5. A data storage library according to claim 2wherein at least one of said plurality of light sources possesses aspectral characteristic substantially different from the spectralcharacteristic of at least one other light source.
 6. A data storagelibrary according to claim 1 wherein said determining means comprises atleast one light source positioned at a location correlating with thelocation of said at least one mobile transport robot and a plurality oflight sensors each of which is sensitive to light from said at least onelight source and which are disposed in a predetermined, fixed arraywithin the library.
 7. A data storage library according to claim 1wherein said determining means includes at least one sound wavegenerator, at least one sound wave receptor, and a sound wave analyzeroperatively coupled to said at least one sound wave receptor.
 8. A datastorage library according to claim 2 wherein said library includes aceiling and wherein said plurality of light sources are mounted on saidceiling.
 9. A data storage library according to claim 2 wherein saidlibrary includes a plurality of said light sensors, wherein saidplurality of light sources is disposed in a substantially linear row,and wherein said plurality of light sensors are disposed in asubstantially linear row that is substantially parallel to the row inwhich said plurality of light sources are disposed.
 10. A data storagelibrary according to claim 9 wherein said plurality of light sources aresubstantially equi-distantly spaced from each other, wherein saidequi-distant spacing of said plurality of light sources is in the rangeof about one inch to three inches, wherein said plurality of lightsensors are substantially equi-distantly spaced from each other, andwherein said equidistant spacing of said plurality of light sensors isin the range of about one-half inch to one and one-half inches.
 11. Adata storage library according to claim 10 wherein said row of lightsources is disposed substantially directly vertically above said row oflight sensors by a distance in the range of about one-quarter inch tosix inches.
 12. A data storage library according to claim 2 wherein saiddetermining means is adapted to move said at least one light sensorrelative to said at least one mobile transport robot.
 13. A data storagelibrary according to claim 2 wherein said at least one light sensor isprovided with a funnel for substantially limiting the angular rangewithin which light from at least one of said light sources may impingeupon and be sensed by said sensor.
 14. A method of locating a mobiletransport robot in a data storage library comprising: (a) providingmeans for determining the location of said at least one mobile transportrobot within said library; and (b) utilizing said location determiningmeans to locate said at least one mobile transport robot.
 15. A methodof locating a mobile transport robot in a data storage librarycomprising: (a) providing either (1) at least one electro-magnetic wavesource, at least one electro-magnetic wave sensor and anelectro-magnetic wave analyzer operatively coupled to said at least oneelectro-magnetic wave sensor, or (2) at least one sound wave generator,at least one sound wave receptor, and a sound wave analyzer operativelycoupled to said at least one sound wave receptor; and (b) step fordetermining the location of said mobile transport robot.
 16. A methodaccording to claim 15 wherein step (b) utilizes only said at least oneelectro-magnetic wave source, said at least one electro-magnetic wavesensor, and said electro-magnetic wave analyzer operatively coupled tosaid at least one electro-magnetic wave sensor.
 17. A method accordingto claim 15 wherein step (b) utilizes only said at least one sound wavegenerator, said at least one sound wave receptor, and said sound waveanalyzer.
 18. A method of locating a mobile transport robot in a datastorage library comprising: (a) providing a controller; (b) providing atleast one wave generator; (c) providing at least one wave sensor; (d)providing a mobile transport robot; (e) causing said at least one wavegenerator to generate a wave either toward or from said mobile transportrobot when said mobile transport robot is in a substantially stationaryposition that impinges on said at least one wave sensor; (f) creating anelectrical signal indicative of intensity characteristics associatedwith said wave generated by said at least one wave generator as sensedby said at least one wave sensor; (g) causing said electric signal to beprocessed by said controller to indicate the location of said mobiletransport robot.
 19. A method according to claim 18 further comprising(h) after step (e), moving said mobile transport robot; (i) after step(h), causing said at least one wave generator to generate a wave eithertoward or from said mobile transport robot that impinges on said atleast one wave receptor; (j) after step (i), creating a second electricsignal indicative of intensity characteristics associated with said wavegenerated by said at least one wave generator as sensed by said at leastone wave sensor; and (k) causing said second electric signal to beprocessed by said controller to indicate the location of said mobiletransport robot.
 20. A method according to claim 18 wherein said waveconsists essentially of an electro-magnetic wave.
 21. A method accordingto claim 18 wherein said wave consists essentially of a sound wave.